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Real Time Control Design for Mobile Robot Fault Tolerant Control. Introducing the ARTEMIC Powered Mobile Robot.

Real Time Control Design for Mobile Robot Fault Tolerant Con...

引用

2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Cristian Axenie Razvan Solea Automation and Industrial Informatics Department Computer Science Faculty from ”Dunarea de Jos” Univ Control Systems and Applied Informatics Computer Science Faculty from ”Dunarea de Jos” University St

Real-time applications should timely deliver synchronized data-sets, minimize latency and jitter in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. The paper focuses on design details and performance analysis at the system operation level. Some stress tests are executed during normal operation to validate the proposal. Specific design, development and implementation details will be provided in this paper.

关键词： Mobile Robotics Fault Tolerant Control Sliding Mode EKF Real-Time Linux Distributed Control

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A combined mixed integer programming and fuzzy control approach for movement of autonomous systems in formation

A combined mixed integer programming and fuzzy control appro...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Thomas Kopfstedt Christoph Ament Research and Development Department Diehl BGT Defence GmbH and Company KG Uberlingen Germany Institute for Automation and Systems Engineering Faculty of Computer Science and Automation Technical University Ilmenau Ilmenau Germany

This paper presents a new combination of algorithms to allow coordinated movement of groups of autonomous systems in formation. A key feature of the work we will present here is a number of specific sets of fuzzy algorithms that, in combination, allow a movement in formation in 3D environments simply based on sensor inputs in a purely reactive manner. This approach is combined with a global optimization realized by using mixed integer programming to allow well planned actions of the formations with automatic avoidance of situations in which the stability of the formation could not be assured. For the combination of these two different algorithms and the possibility to extend these two with other algorithms to fulfill complicated mission tasks we we present a specific control architecture that allows to run several algorithms in parallel during a mission and to select the best performing one as the one that is controlling the autonomous vehicle.

关键词： Collision avoidance Fuzzy systems Unmanned aerial vehicles Three dimensional displays Optimization Robot sensing systems Trajectory

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Tool support for the development of IEC 62390 compliant fieldbus profiles

Tool support for the development of IEC 62390 compliant fiel...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Roman Frenzel Martin Wollschlaeger Thomas Hadlich Christian Diedrich Industrial Communications Institute of Applied Computer Science Faculty of Computer Science Technical University of Dresden Dresden Germany Integrated Automation Institute for Control Systems Faculty of Electronic and Computer Science Engineering Otto-von-Guericke University of Magdeburg Germany

Industrial communication systems standardize communication protocols and services. Interoperability within automation and control systems need additional application definitions. This is usually organized with fieldbus profile specifications. Profiles become part of the overall development process of the device manufacturer. Unfortunately, today's profile descriptions are very informal and have nearly no support for the development process. This paper presents a semi-formal profile specification approach, based on IEC 62390 and using a mixed UML and MS Word process. Result of both specifications is an XML representation which can be integrated in the device development process. This method is developed for the PROFIBUS User Organisation for PROFIBUS and PROFINET device profiles.

关键词： Unified modeling language Guidelines IEC standards XML Documentation Safety Formal specifications

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Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle

Sliding-mode trajectory-tracking control for a four-wheel-st...

引用

International Conference on Control and automation (ICCA)

作者： Razvan Solea Adrian Filipescu Viorel Minzu Silviu Filipescu Department of Automation and Industrial Informatics Faculty of Computer Science University Dunarea de Jos of Galati Galati Romania Intelligent Control Systems Faculty of Computer Science University Dunarea de Jos of Galati Galati Romania

ISBN: (纸本)9781424451951

Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The effectiveness of the proposed control law to trajectory-tracking control is demonstrated by simulation results.

关键词： Sliding mode control Vehicles Robotics and automation Mobile robots Automatic control Service robots Electric variables control Control systems Informatics computer science

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Adaptive sliding mode controller design for mobile robot fault tolerant control. introducing ARTEMIC.

Adaptive sliding mode controller design for mobile robot fau...

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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty Dunãrea de Jos Galati University Galati Romania Control Systems and Applied Informatics Computer Science Faculty Dunãrea de Jos Galati University Galati Romania

Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate an adaptive nonlinear controller for the robot operation in the presence of disturbances and modeling inaccuracies. This paper introduces an adaptive real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Sliding mode control Programmable control Adaptive control Mobile robots Fault tolerance Robot control Delay Artificial intelligence Fuzzy control Fuzzy systems

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Obstacle avoidance and path following control of a WMR used as personal robotic assistant

Obstacle avoidance and path following control of a WMR used ...

引用

Mediterranean Conference on Control and automation (MED)

作者： A. Filipescu I. Susnea V. Minzu G. Vasiliu S. Filipescu Department of Automation and Industrial Informatics University Dunarea de Jos of Galati Romania Intelligent Systems Faculty of Computer Science University Dunarea de Jos of Galati Romania

In this paper, an obstacle avoidance method and a fuzzy control, together with a distributed system of embedded microcontrollers, are presented. In the real-time control, a wheeled mobile robot (WMR), Pioneer 3-DX, from Mobile Robots, has been used. The solution adopted can be easily ported for the implementation of an intelligent wheelchair, capable either to carry an elderly or disabled person, or to move independently in a smart environment, as a sensorial extension of the assisted individual. A number of control modules are located on the mobile robot, while others are deployed in an intelligent environment. This solution can significantly reduce the cost of developing a personal robotic assistant (PRA) for the elderly and disabled. The structure of the real-time setup is described in detail, as well as the main algorithms used for each individual task: path following, obstacle avoidance, data acquisition. Also, an obstacle avoidance system, based on ricochet method, named “the bubble rebound method”, is presented.

关键词： Mobile robots Robot sensing systems Robot kinematics Sonar navigation Sonar Microcontrollers

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Evaluation of Enriched Cyberspace for Adaptive Support of Remote Collaboration

Evaluation of Enriched Cyberspace for Adaptive Support of Re...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Yoshitaka Sakurai Kinshuk Kouhei Takada Takashi Kawabe Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Japan School of Computing and Information Systems Athabasca University Canada Faculty of Computer Science and Automation University of Ilmenau Ilmenau Germany

Due to the geographical distribution, different cognitive capacity, and different domain competency of workers or learners, many misunderstandings can occur during distributed remote collaboration, leading to inefficient discussions and undesired results. To make remote collaboration more efficient and dependable, enriching cyberspace through adaptively utilizing is proposed and evaluated. This assesses situations of remote users through information fusion of multiple biological sensors and the related contexts such as user profiles. Transmitting and using such information, the system adaptively supports the distributed remote collaboration by stressing, warning, and presenting keywords/summaries in multimedia. Effects of presenting keywords/summaries adaptively depending on situations are evaluated as to the decrease of not-/misunderstanding possibilities during the explanation on the Cyberspace. Moreover, the adaptive selection effects of keywords or summaries presentation depending on cognitive profiles of remote members are also evaluated. These evaluations demonstrate the feasibility and usefulness of the proposed method.

关键词： Collaboration Cyberspace Biosensors Microphones Temperature sensors Skin Avatars

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Enriched Cyberspace through Adaptive Multimedia Utilization for Dependable Remote Collaboration

Enriched Cyberspace through Adaptive Multimedia Utilization ...

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International Conference on Advanced Information Networking and Applications Workshops (AINAW)

作者： Yoshitaka Sakurai Kinshuk Kouhei Takada Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Japan School of Computing and Information Systems Athabasca University Canada Faculty of Computer Science and Automation University of Ilmenau Ilmenau Germany

Due to the geographical distribution, different cognitive capacity, and different domain competency of workers or learners, many misunderstandings can occur during distributed remote collaboration, leading to inefficient discussions and undesired results. To make remote collaboration more efficient and dependable, enriching cyberspace through adaptively utilizing is proposed and evaluated. This assesses situations of remote users through information fusion of multiple biological sensors and the related contexts such as user profiles. Transmitting and using such information, the system adaptively supports the distributed remote collaboration by stressing, warning, and presenting keywords/summaries in multimedia. Effects of presenting keywords/summaries adaptively depending on situations and cognitive profiles of remote members are evaluated as to the decrease of not-/misunderstanding possibilities during the explanation on the Cyberspace. The evaluation demonstrates the feasibility and usefulness of the proposed method.

关键词： Collaborative work Collaborative tools Multimedia systems International collaboration Guidelines Humans Application software Conferences Multimedia computing computer networks

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Influence of contact resistance on shielding efficiency of shielding gutters for HV cables

Influence of contact resistance on shielding efficiency of s...

引用

14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Koroglu, S. Sergeant, P. Sabariego, R. Dang, Vuong Q. De Wulf, M. Dept. Electrical Engineering Yildiz Technical University 34349 Besiktas-Istanbul Turkey Dept. Electrical Energy Systems and Automation Ghent University B-9000 Ghent Belgium Dept. Electrotechnology Faculty Applied Engineering Sciences University College Ghent B-9000 Belgium Dept. Electrical Engineering and Computer Science ACE B-4000 Liege Belgium ArcelorMittal Global R and D Gent B-9060 Zelzate Belgium

ISBN: (纸本)9781424470594

Shielding of buried three phase high voltage cables can be done by placing the cables in conducting ferromagnetic U-shaped gutters covered by plates. In case of a perfect electrical contact between adjacent gutters and between adjacent cover plates, the induced currents in the shield efficiently reduce the field generated in the vicinity of the cables. However, as a perfect contact cannot be guaranteed, it is useful to quantify the effect of a bad electrical contact on the shielding performance. From 2D FEM, 3D FEM and experiments, it is observed that a bad contact does not influence significantly the shielding if the axial length of the plates is relatively long compared to their other dimensions. © 2010 IEEE.

关键词： Shielding

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Stability analysis of a class of MIMO fuzzy control systems

Stability analysis of a class of MIMO fuzzy control systems

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Radu-Emil Precup Marius L. Tomescu Emil M. Petriu Stefan Preitl János Fodor Daniela Bărbulescu Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania “Politehnica” University of Timisoara Timisoara RO Romania Faculty of Computer Science Aurel Vlaicu University of Arad Arad Romania Faculty of Computer Science Complex Universitar Arad RO Romania University of Ottawa School of Information Technology and Engineering Ottawa ON Canada Óbuda University Institute of Intelligent Engineering Systems Budapest Hungary

This paper suggests a new stability analysis approach dedicated to a class of fuzzy control systems controlling multi input-multi output (MIMO) nonlinear processes by means of Takagi-Sugeno fuzzy logic controllers. The approach is based on LaSalle's global invariant set theorem, and an original stability theorem offers sufficient stability conditions. The applicability and efficiency of the theoretical results are illustrated by a MIMO case study dealing with the fuzzy control of a spherical three tank system.

关键词： Stability analysis Process control MIMO Fuzzy control Valves Numerical stability Lyapunov method

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